diff --git a/include/wolf_ros_subscriber_gnss_TDCP.h b/include/wolf_ros_subscriber_gnss_TDCP.h
index 251db0b02ccce2be60e731d1943d231c851977e4..0349dce65b6a0542127a99daa4c940ab78f99d75 100644
--- a/include/wolf_ros_subscriber_gnss_TDCP.h
+++ b/include/wolf_ros_subscriber_gnss_TDCP.h
@@ -38,9 +38,6 @@ class SubscriberWrapperGnssTDCP : public SubscriberWrapper
 
         ros::Subscriber sub_nav_;
         std::shared_ptr<GNSSUtils::Navigation> last_nav_ptr_;
-        //GNSSUtils::Navigation last_nav_;
-        //GNSSUtils::Observations obs_;
-        //GNSSUtils::ComputePosOutput  get_pos_res_;
 
         //prcopt_t prcopt_;
         //bool new_obs_;
diff --git a/src/wolf_ros_subscriber_gnss_TDCP.cpp b/src/wolf_ros_subscriber_gnss_TDCP.cpp
index 5653d0617fcfb95e31e3c7243699923020d602d1..536d6230548d67611f9cd715c9fc6a9ea52b31a0 100644
--- a/src/wolf_ros_subscriber_gnss_TDCP.cpp
+++ b/src/wolf_ros_subscriber_gnss_TDCP.cpp
@@ -15,7 +15,6 @@ void SubscriberWrapperGnssTDCP::initSubscriber(ros::NodeHandle& nh, const std::s
     sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &SubscriberWrapperGnssTDCP::callbackNavigation, this);
 }
 
-
 void SubscriberWrapperGnssTDCP::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
 {
     ROS_INFO("callbackObs!");
@@ -24,8 +23,6 @@ void SubscriberWrapperGnssTDCP::callbackObservation(const iri_gnss_msgs::Observa
 
     // TODO copied from TDCP_ros
 
-
-
 //    GNSSUtils::ObservationsPtr obs_ptr = std::make_shared<GNSSUtils::Observations>();
 //    GNSSUtils::fillObservation(*obs_ptr, msg);
 //    CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
@@ -40,7 +37,6 @@ void SubscriberWrapperGnssTDCP::callbackNavigation(const iri_gnss_msgs::Navigati
 {
     ROS_INFO("callbackNav!");
 
-    std::cout << "Ephemeris size: " << msg->eph.size() << "\n";
     last_nav_ptr_ = std::make_shared<GNSSUtils::Navigation>();
     GNSSUtils::fillNavigation(*last_nav_ptr_, msg);
     last_nav_ptr_->print();
diff --git a/src/wolf_ros_subscriber_gnss_fix.cpp b/src/wolf_ros_subscriber_gnss_fix.cpp
index ff46cb3e127ea00bdc2480fe273064677fc4926d..2c8ea95d8a5c366f96e3806d41c95a0ad37f4ee0 100644
--- a/src/wolf_ros_subscriber_gnss_fix.cpp
+++ b/src/wolf_ros_subscriber_gnss_fix.cpp
@@ -18,7 +18,14 @@ void SubscriberWrapperGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr&
 {
     ROS_INFO("callback!");
 
-    //TODO
+    Eigen::Matrix3d cov = Eigen::Map<const Eigen::Matrix3d>(msg->position_covariance.data());
+
+    CaptureGnssFixPtr cap_gnss_ptr = std::make_shared<CaptureGnssFix>(TimeStamp(0),
+                                                                      sensor_ptr_,
+                                                                      Eigen::Vector3d(msg->latitude,msg->longitude,msg->altitude),
+                                                                      cov,
+                                                                      false); //false = {LatLonAlt fix and ENU cov}
+    cap_gnss_ptr->process();
 }
 std::shared_ptr<SubscriberWrapper> SubscriberWrapperGnssFix::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {